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<div class="title">sac_model_normal_sphere.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: sac_model_normal_sphere.hpp schrandt $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_SPHERE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_SPHERE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_normal_sphere.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#add28aa65f7cf96ef1dfa1276ff95bc9c">   48</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#add28aa65f7cf96ef1dfa1276ff95bc9c">pcl::SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;::selectWithinDistance</a> (</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold, std::vector&lt;int&gt; &amp;inliers)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelNormalSphere::selectWithinDistance] No input dataset containing normals was given!\n&quot;</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    inliers.clear ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    inliers.clear ();</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">// Obtain the sphere center</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  Eigen::Vector4f center = model_coefficients;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  center[3] = 0;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  inliers.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  error_sqr_dists_.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the plane</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// Calculate the distance from the point to the sphere center as the difference between</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// dist(point,sphere_origin) and sphere_radius</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    Eigen::Vector4f p (input_-&gt;points[(*indices_)[i]].x, </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                       input_-&gt;points[(*indices_)[i]].y,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                       input_-&gt;points[(*indices_)[i]].z, </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                       0);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    Eigen::Vector4f n (normals_-&gt;points[(*indices_)[i]].normal[0], </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[1], </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[2], </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                       0);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    Eigen::Vector4f n_dir = p - center;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (n_dir.norm () - model_coefficients[3]);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the plane normal</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, n_dir));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">double</span> distance = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid); </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">if</span> (distance &lt; threshold)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// Returns the indices of the points whose distances are smaller than the threshold</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      inliers[nr_p] = (*indices_)[i];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      error_sqr_dists_[nr_p] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (distance);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      ++nr_p;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  inliers.resize (nr_p);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  error_sqr_dists_.resize (nr_p);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#aa6a8777c55ad7506c18617ebc5239f7f">  110</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#aa6a8777c55ad7506c18617ebc5239f7f">pcl::SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;::countWithinDistance</a> (</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,  <span class="keyword">const</span> <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;{</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelNormalSphere::getDistancesToModel] No input dataset containing normals was given!\n&quot;</span>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">return</span>(0);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">// Obtain the shpere centroid</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  Eigen::Vector4f center = model_coefficients;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  center[3] = 0;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the plane</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Calculate the distance from the point to the sphere centroid as the difference between</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// dist(point,sphere_origin) and sphere_radius</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    Eigen::Vector4f p (input_-&gt;points[(*indices_)[i]].x, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                       input_-&gt;points[(*indices_)[i]].y, </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                       input_-&gt;points[(*indices_)[i]].z, </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                       0);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    Eigen::Vector4f n (normals_-&gt;points[(*indices_)[i]].normal[0], </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[1], </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[2], </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                       0);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    Eigen::Vector4f n_dir = (p-center);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (n_dir.norm () - model_coefficients[3]);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">//</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the plane normal</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, n_dir));</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordflow">if</span> (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) &lt; threshold)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      nr_p++;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">return</span> (nr_p);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a6a0b93014b98287335034e2a9b7da715">  160</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a6a0b93014b98287335034e2a9b7da715">pcl::SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;::getDistancesToModel</a> (</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, std::vector&lt;double&gt; &amp;distances)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelNormalSphere::getDistancesToModel] No input dataset containing normals was given!\n&quot;</span>);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="comment">// Obtain the sphere centroid</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  Eigen::Vector4f center = model_coefficients;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  center[3] = 0;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  distances.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the plane</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">// Calculate the distance from the point to the sphere as the difference between</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// dist(point,sphere_origin) and sphere_radius</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    Eigen::Vector4f p (input_-&gt;points[(*indices_)[i]].x, </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                       input_-&gt;points[(*indices_)[i]].y, </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                       input_-&gt;points[(*indices_)[i]].z, </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                       0);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    Eigen::Vector4f n (normals_-&gt;points[(*indices_)[i]].normal[0], </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[1], </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                       normals_-&gt;points[(*indices_)[i]].normal[2], </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                       0);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    Eigen::Vector4f n_dir = (p-center);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (n_dir.norm () - model_coefficients[3]);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="comment">//</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the plane normal</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, n_dir));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;}</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a142a2daa33b84dfa8386eced5e154d64">  210</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a142a2daa33b84dfa8386eced5e154d64">pcl::SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;::isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">if</span> (radius_min_ != -std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[3] &lt; radius_min_)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordflow">if</span> (radius_max_ != std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[3] &gt; radius_max_)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SampleConsensusModelNormalSphere(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;;</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_SPHERE_H_</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_sphere_html_a142a2daa33b84dfa8386eced5e154d64"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a142a2daa33b84dfa8386eced5e154d64">pcl::SampleConsensusModelNormalSphere::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_sphere.hpp:210</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_sphere_html_a6a0b93014b98287335034e2a9b7da715"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_sphere.html#a6a0b93014b98287335034e2a9b7da715">pcl::SampleConsensusModelNormalSphere::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all distances from the cloud data to a given sphere model.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_sphere.hpp:160</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_sphere_html_aa6a8777c55ad7506c18617ebc5239f7f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_sphere.html#aa6a8777c55ad7506c18617ebc5239f7f">pcl::SampleConsensusModelNormalSphere::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_sphere.hpp:110</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_sphere_html_add28aa65f7cf96ef1dfa1276ff95bc9c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_sphere.html#add28aa65f7cf96ef1dfa1276ff95bc9c">pcl::SampleConsensusModelNormalSphere::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_sphere.hpp:48</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
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